Referenced Items are not available for this document.
This paper describes two methods aimed at improving dead-reckoning accuracy with fiber-optic gyroscopes (FOGs) in mobile robots. The first method is a precision calibration procedure for FOGs, which effectively reduces the ill effects of nonlinearity of the scale-factor and temperature dependency. The second method is the implementation of an indirect feedback Kalman filter that fuses the sensor data from the FOG with the odometry system of the mobile robot. The paper also provides experimental results and compares the relative effectiveness of the two methods as implemented on a four-wheel drive/skidsteer Pioneer AT mobile robot
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:17
,
Issue:
1
)
Date of Publication: Feb 2001
- Page(s):
- 80 - 84
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 6897663
- Digital Object Identifier :
- 10.1109/70.917085
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 August 2002
- Issue Date :
- Feb 2001
- Sponsored by :
- IEEE Robotics and Automation Society
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